Modifying the behavior of an autonomous vehicle using context based parameter switching

ABSTRACT

A vehicle configured to operate in an autonomous mode may operate a sensor to determine an environment of the vehicle. The sensor may be configured to obtain sensor data of a sensed portion of the environment. The sensed portion may be defined by a sensor parameter. Based on the environment of the vehicle, the vehicle may select at least one parameter value for the at least one sensor parameter such that the sensed portion of the environment corresponds to a region of interest. The vehicle may operate the sensor, using the selected at least one parameter value for the at least one sensor parameter, to obtain sensor data of the region of interest, and control the vehicle in the autonomous mode based on the sensor data of the region of interest.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 16/436,033, filed Jun. 10, 2019, which is a continuation ofU.S. patent application Ser. No. 15/659,071, filed Jul. 25, 2017, whichis a continuation of U.S. patent application Ser. No. 14/865,660, filedSep. 25, 2015, which is a continuation of U.S. patent application Ser.No. 13/628,546, filed Sep. 27, 2012. The foregoing applications areincorporated herein by reference.

BACKGROUND

Unless otherwise indicated herein, the materials described in thissection are not prior art to the claims in this application and are notadmitted to be prior art by inclusion in this section.

Some vehicles are configured to operate in an autonomous mode in whichthe vehicle navigates through an environment with little or no inputfrom a driver. Such a vehicle typically includes one or more sensorsthat are configured to sense information about the environment. Thevehicle may use the sensed information to navigate through theenvironment. For example, if the sensors sense that the vehicle isapproaching an obstacle, the vehicle may navigate around the obstacle.

SUMMARY

In a first aspect, a method is provided. The method includesdetermining, using a computer system, an environment of a vehicle. Thevehicle is configured to operate in an autonomous mode and comprises asensor configured to obtain sensor data of a sensed portion of theenvironment. The sensed portion is defined by at least one sensorparameter. The method also includes based on the environment of thevehicle, selecting at least one parameter value for the at least onesensor parameter such that the sensed portion of the environmentcorresponds to a region of interest. The method additionally includesoperating the sensor, using the selected at least one parameter valuefor the at least one sensor parameter, to obtain sensor data of theregion of interest. The method further includes controlling the vehiclein the autonomous mode based on the sensor data of the region ofinterest.

In a second aspect, a vehicle is provided. The vehicle includes asensor. The sensor is configured to obtain sensor data of a sensedportion of an environment. The sensed portion is defined by at least onesensor parameter, and the vehicle is configured to operate in anautonomous mode. The vehicle also includes a computer system. Thecomputer system is configured to determine the environment of thevehicle. The computer system is configured to, based on the environmentof the vehicle, select at least one parameter value for the at least onesensor parameter such that the sensed portion of the environmentcorresponds to a region of interest. The computer system is alsoconfigured to operate the sensor, using the selected at least oneparameter value for the at least one sensor parameter, to obtain sensordata of the region of interest. The computer system is additionallyconfigured to control the vehicle in the autonomous mode based on thesensor data of the region of interest.

In a third aspect, a non-transitory computer readable medium havingstored therein instructions executable by a computer system is provided.The functions include determining an environment of a vehicle. Thevehicle is configured to operate in an autonomous mode and comprises asensor configured to obtain sensor data of a sensed portion of theenvironment. The sensed portion is defined by at least one sensorparameter. The functions also include based on the environment of thevehicle, selecting at least one parameter value for the at least onesensor parameter such that the sensed portion of the environmentcorresponds to a region of interest. The functions additionally includeoperating the sensor, using the selected at least one parameter valuefor the at least one sensor parameter, to obtain sensor data of theregion of interest. The functions further include controlling thevehicle in the autonomous mode based on the sensor data of the region ofinterest.

The foregoing summary is illustrative only and is not intended to be inany way limiting. In addition to the illustrative aspects, embodiments,and features described above, further aspects, embodiments, and featureswill become apparent by reference to the figures and the followingdetailed description.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a functional block diagram illustrating a vehicle, inaccordance with an example embodiment.

FIG. 2 is a vehicle, in accordance with an example embodiment.

FIG. 3A is a top view of an autonomous vehicle operating scenario, inaccordance with an example embodiment.

FIG. 3B is a top view of an autonomous vehicle operating scenario, inaccordance with an example embodiment.

FIG. 4 is a block diagram of a method for modifying the behavior of anautonomous vehicle using context based parameter switching, inaccordance with an example embodiment.

FIG. 5 is a functional block diagram illustrating a computer programproduct, in accordance with an example embodiment.

DETAILED DESCRIPTION

Example methods and systems are described herein. Any example embodimentor feature described herein is not necessarily to be construed aspreferred or advantageous over other embodiments or features. Theexample embodiments described herein are not meant to be limiting. Itwill be readily understood that certain aspects of the disclosed systemsand methods can be arranged and combined in a wide variety of differentconfigurations, all of which are contemplated herein.

Furthermore, the particular arrangements shown in the Figures should notbe viewed as limiting. It should be understood that other embodimentsmay include more or less of each element shown in a given Figure.Further, some of the illustrated elements may be combined or omitted.Yet further, an example embodiment may include elements that are notillustrated in the Figures.

Disclosed herein are methods and system that relate to modifying thebehaviour of an autonomous vehicle using context based parameterswitching. More particularly, disclosed embodiments relate to a vehicleoperating in an autonomous mode that adjusts one or more parameters(e.g., in real time) based on the context or environment of the vehicle.The one or more parameters could include any parameter that affects howa sensor or other component of the vehicle functions in the autonomousmode. For example, a parameter may affect how one or more sensors of thevehicle obtain sensor data when the vehicle is in the autonomous mode,or how such sensor data is processed or evaluated. The context orenvironment could include any aspect of the vehicle's physicalsurroundings, such as the type of road on which the vehicle is operating(e.g., whether the road is a freeway or a surface street), the amount oftraffic on the road, the lighting conditions, or the weather conditions.

By adjusting one or more parameters based on the vehicle's environment,the vehicle can be operated in the autonomous mode in a manner that isappropriate for that environment. For example, when the vehicle isoperating on a surface street, the vehicle may obtain sensor data andapply algorithms that can be used to detect pedestrians and trafficlights. However, when the vehicle is on a freeway, the vehicle mayobtain sensor data and apply algorithms that can be used to track nearbyvehicles and detect the presence of construction zones. In general,usage of the vehicle's input, output, and/or computational resources canbe controlled by environment-based parameters, so that the vehicle'sresources are used more efficiently and in a manner that optimizes thevehicle's performance in that environment.

In some embodiments, the one or more parameters that are selected basedon a vehicle's environment could include a sensor parameter that relatesto a sensor of the vehicle. The sensor could be, for example, an imagecapture device (e.g., a camera), a Light Detection and Ranging (LIDAR)device, a radar device, or other type of sensor. In some examples, asensor parameter may determine where a vehicle's sensor obtains sensordata. For example, a sensor parameter could be a distance parameter thatdefines a range of distances from the vehicle in which a sensor obtainssensor data. The range of distances could be defined by a radius of acircle centered at the vehicle, for example, if the sensor obtains datain a 360-degree angular range. Alternatively, the range of distancescould correspond to a range of distances in a particular direction fromthe vehicle, such as ahead of the vehicle, behind the vehicle, or to oneor both sides of the vehicle. For example, one or more distanceparameters could control the operation of a sensor such that the sensorobtains sensor data in a first range of distances from the side of thevehicle and in a second, different range of distances ahead of andbehind the vehicle. Having a sensor obtain sensor data at differentdistances in different directions can be appropriate when the vehicle ison a freeway. Specifically, in a freeway environment, it may beefficient for the vehicle to obtain sensor data from only one or twolanes to the side of the vehicle but obtain sensor data over longerdistances ahead of and behind the vehicle. Other types of distanceparameters are also possible.

In addition to distance parameters, sensor parameters could include adirection parameter that defines a range of directions from the vehiclein which a sensor obtains sensor data. For example, one value of adirection parameter may select a 360-degree angular range for detectingsensor data, whereas another value of the direction parameter may selecta narrower angular range in a particular direction (e.g., a range ofangles in front of the vehicle). Sensor parameters could also include aheight parameter that defines a range of heights above the ground inwhich a sensor obtains sensor data. The range of heights could bedirection dependent. For example, it may be beneficial for a sensor toobtain sensor data at greater range of heights in front of the vehiclethan behind the vehicle, in order to detect upcoming signs or trafficlights.

Value(s) for a distance parameter, direction parameter, and/or heightparameter could be selected for a sensor based on the vehicle'senvironment so that the sensor obtains sensor data in a region ofinterest that is relevant for that environment. For example, when anautonomous vehicle is driving on a freeway, the region of interest couldcorrespond to a range of distances corresponding to about two lanes toeither side of the vehicle and a greater distance ahead of and behindthe vehicle. This region of interest could be sufficient to track nearbyvehicles, detect construction zones, and perform other functions thatare appropriate in a freeway environment. Moreover, with this region ofinterest, an autonomous vehicle may not need to use certain sensors, orreduce the amount of use of certain sensors.

On the other hand, when the vehicle is on a surface street, the regionof interest could be defined by a sensor's maximum distance range and/ormaximum angular range. This region of interest could be appropriate fora surface street environment in which other vehicles could be movingtoward the vehicle from any direction, due to oncoming traffic,intersections, driveways, etc. The region of interest could also includea range of heights that is appropriate to detect traffic lights.Further, in order to detect pedestrians in a robust and reliable manner,the vehicle may use one or more sensors to constantly monitor areaswhere pedestrians might be present. Thus, to detect pedestrians whenoperating on a surface street, a vehicle may use a greater number ofsensors and/or different types of sensors than when operating on afreeway. In general, the autonomous vehicle may determine a sensorregion of interest based on the context or environment of the vehicle,and operate sensors of the vehicle to obtain sensor data within thesensor region of interest.

Instead of or in addition to defining a region of interest, a sensorparameter could define other aspects of a sensor's operation. Forexample, in the case of a LIDAR sensor, a sensor parameter may controlthe pulse rate and, hence, the angular resolution of the LIDAR data. Inthe case of an image capture device, a sensor parameter may control anexposure time or frame rate. Sensor parameters could also turn on orturn off one or more sensors based on the environment. Other types ofsensor parameters are also possible.

In some embodiments, the one or more parameters that are selected basedon a vehicle's environment could include a parameter that relates to howsensor data is processed or evaluated, such as processing the sensordata using different algorithms in different environments. For example,when a vehicle is operating on a surface street, a control system of thevehicle may use a traffic light detection algorithm that processessensor data from one or more sensors in order to detect traffic lightsand determine the states of detected traffic lights. In addition, thecontrol system may use a pedestrian detection algorithm that processessensor data from one or more sensors in order to detect pedestrians.When the vehicle is operating on a freeway, however, the traffic lightdetection algorithm and pedestrian detection algorithm could be turnedoff in order to conserve computational resources. The control systemcould also turn on other types of algorithms when operating on afreeway. Such freeway-appropriate algorithms could include a vehicletracking algorithm that tracks other, nearby vehicles (e.g., so that thevehicle can maintain a safe distance from other vehicles), a laneestimation algorithm that identifies lane markers and/or a constructionzone detection algorithm that can detect the presence of a constructionzone (e.g., by detecting construction cones, construction barrels, orconstruction signs). Other types of algorithms may also be used insurface street, freeway, or other environments.

By selecting one or more parameters that control the operation of avehicle's sensor(s), such as which sensors are used, where a sensorobtains sensor data, or how a sensor obtains sensor data, and/or one ormore parameters that control what algorithms are used to process sensordata, based on the context or environment of the vehicle, the vehiclemay obtain and utilize sensor data in a manner that optimizes theperformance of the vehicle and makes efficient use of the vehicle'sprocessing and computational resources.

Within the context of the disclosure, the vehicle may be operable invarious modes of operation. Depending on the embodiment, such modes ofoperation may include manual, semi-autonomous, and autonomous modes. Inparticular, the autonomous mode may provide steering operation withlittle or no user interaction. Manual and semi-autonomous modes ofoperation could include greater degrees of user interaction.

Some methods described herein could be carried out in part or in full bya vehicle configured to operate in an autonomous mode with or withoutuser interaction. In one example, a vehicle may determine an environmentof the vehicle by operating a sensor that is configured to obtain sensordata of a sensed portion of the environment. The sensed portion of theenvironment may be defined by at least one sensor parameter. Forexample, the sensor may be a LIDAR device and the sensor parameter maybe a distance parameter. In such an instance, the data may be obtainedfrom the LIDAR device at distances up to a maximum distance defined bythe distance parameter. In another example, the at least one sensor maybe a radar device and the sensor parameter may be a direction parameter.In that instance, the radar device may be controlled to obtain data inthe directions defined by the direction parameter. Other sensors andsensor parameters are also possible.

A vehicle may use various sources of information to determine the typeof environment in which it is operating. In some examples, a vehicle mayobtain its location (e.g., using GPS) and refer to a map to determinewhether its location corresponds to a freeway environment, a surfacestreet environment, or other type of environment. In other examples, avehicle may determine that it is traveling on a freeway or surfacestreet based on such characteristics as the shape of the road, thenumber of lanes, whether a median is present, whether intersections orcross-walks are present, whether traffic lights are present, whetherpedestrians are present, and/or based on what type of signs are present.The vehicle could also determine the environment based on vehicle speedsand/or posted speed limits. For example, vehicle speeds or posted speedlimits of 50 mph or greater could indicate a freeway environment,whereas vehicle speeds or posted speed limits of 30 mph or less couldindicate a surface street environment. The environment of a vehiclecould also be determined based on other characteristics of the vehicle'ssurroundings. In some examples, a vehicle may receive information aboutits environment from a server or other information source. A vehicle mayalso use any combination of these approaches to determine itsenvironment, such as comparing sensor data obtained by one or moresensors to map data.

In addition to freeway and surface street environments, other types ofenvironments could be defined. For example, a vehicle may distinguishbetween surface streets in urban settings and surface roads in ruralsettings. Freeway and/or surface street environments could be furtherdefined based on the amount of traffic present. For example, a vehiclemay define four different environments for purposes of parameterselection: high-traffic-freeway, low-traffic-freeway,high-traffic-surface-street, and low-traffic-surface-street. In someexamples, environments could be defined based on lighting conditions.For instance, when light levels are low (e.g., at night) a sensor couldbe operated differently, or different algorithms could be used toprocess sensor data, than when light levels are high (e.g., during theday). In some examples, environments could be defined based on weatherconditions. For instance, during inclement weather, such as fog, rain,or snow, sensors may be operated differently, or different sensors couldbe used, than when the weather is clear. Other types of environmentscould also be defined.

Based on the environment, the vehicle may select at least one parametervalue for the at least one sensor parameter such that the sensed portionof the environment corresponds to a region of interest. The region ofinterest may be an area of the environment that the vehicle focuses onbased on the characteristics of the environment. In other words, theregion of interest may be a region that is particularly relevant giventhe context or environment of the vehicle. In some examples, the regionof interest may be a certain portion of the environment and may be basedon the type of road on which the vehicle is operating (e.g., a freewayor surface street). In other examples, the region of interest may bedefined based on the activity of objects or things present in theenvironment. In further examples, the region of interest may be definedbased on what the vehicle is doing. Other methods to define the regionof interest are possible and contemplated herein. The parameter valuemay comprise a value that results in a sensor obtaining sensor datawithin the region of interest. For example, the parameter may be adistance parameter and the value may comprise a distance or range ofdistances that corresponds to the region of interest. In other examples,the parameter may be a direction parameter and the parameter value maycomprise a certain direction that corresponds to the region of interest.

In one particular example, the vehicle may use a LIDAR device to sensethat the vehicle has entered a freeway with at least one other vehicle.Based on the sensed environment, the vehicle may determine that theregion of interest is a region including the other vehicle in relationto itself. Accordingly, the vehicle may use a distance parameter for theLIDAR device and select a parameter value of “2 lanes,” or a distancevalue that corresponds to the width of two typical lanes of a freeway(e.g., 24 feet). This distance may correspond to the detection rangealong the sides of the vehicle; a greater detection range could be usedahead of and behind the vehicle. Using the parameter value, the vehiclemay operate the LIDAR device to obtain sensor data within the region ofinterest. For example, using the “2 lanes” parameter value the vehiclemay detect vehicles that are within two lanes of the vehicle, but notvehicles that are three or more lanes away from the vehicle.

As the vehicle continues to operate, the vehicle may operate the sensorusing the selected parameter value to obtain sensor data of the regionof interest. Similar to determining the environment of the vehicle, thesensor data of the region of interest may include more definedenvironment characteristic information regarding the current type ofroad the vehicle is traveling on (e.g., a freeway), external drivingconditions (e.g., ice on the roadway), other vehicle presence (e.g., oftraffic present), other vehicle speeds, obstacle presence (e.g.,accidents or pedestrians and their respective locations), among otherthings. The sensor data of the region of interest may include moredetailed information regarding the environment. In one instance, thevehicle may determine that it is no longer on a surface road, butinstead traveling 50 miles-per-hour on a freeway with other vehicles ina traffic lane adjacent to the one it is travelling in. The vehicle maybe controlled in an autonomous mode based on the sensor data of theregion of interest. For example, the vehicle may be controlled to remainin the same lane based on the fact the other vehicles are adjacent tothe vehicle.

Some methods disclosed herein may be carried out in part or in full by aserver. In an example embodiment, the server may determine anenvironment of the vehicle. For example, the server may receive sensordata from the vehicle operating in the environment, such as a pluralityof images captured using a camera. In other examples, the server mayreceive information regarding the environment of the vehicle from othersources. Based on the environment of the vehicle, the server may selecta parameter value for a parameter that controls a particular sensor ofthe vehicle. The vehicle may use the parameter value to control thesensor to obtain data corresponding to a certain region of interest.Furthermore, based on the data obtained from the region of interest theserver may remotely control the vehicle in the autonomous mode, forexample, by providing instructions to the vehicle. Other instructionsbetween a vehicle operating in an autonomous mode and a server arepossible within the context of the present disclosure.

Vehicles are also described in the present disclosure. In oneembodiment, the vehicle may include elements including a sensor and acomputer system. The vehicle may be configured to operate in anautonomous mode. The sensor may be operated to obtain sensor data of asensed portion of an environment of the vehicle. The sensed portion maybe defined by at least one sensor parameter. The computer system may beconfigured to perform various functions based in full or in part on theacquired information. The functions may include determining, using acomputer system, an environment of a vehicle. For example, the at leastone sensor may be configured to detect a type of road the vehicle istraveling on. The functions may also include based on the environment ofthe vehicle, selecting at least one parameter value for the at least onesensor parameter such that the sensed portion of the environmentcorresponds to a region of interest. The functions may additionallyinclude operating the sensor, using the selected at least one parametervalue for the at least one sensor parameter, to obtain sensor data ofthe region of interest. The functions may further include controllingthe vehicle in the autonomous mode based on the sensor data of theregion of interest.

Also disclosed herein are non-transitory computer readable media withstored instructions. The stored instructions may be executable by acomputing device to cause the computing device to perform functionssimilar to those described in the aforementioned methods.

There are many different specific methods and systems that could be usedto effectuate the methods and systems described herein. Each of thesespecific methods and systems are contemplated herein, and severalexample embodiments are described below.

Example systems within the scope of the present disclosure will now bedescribed in greater detail. Generally, an example system may beimplemented in or may take the form of an automobile (i.e., a specifictype of vehicle). However, an example system may also be implemented inor take the form of other vehicles, such as cars, trucks, motorcycles,buses, boats, airplanes, helicopters, lawn mowers, recreationalvehicles, amusement park vehicles, farm equipment, constructionequipment, trams, golf carts, trains, and trolleys. Other vehicles arepossible as well.

Referring now to the figures, FIG. 1 is a functional block diagramillustrating an automobile 100, according to an example embodiment. Theautomobile 100 could be configured to operate fully or partially in anautonomous mode. For example, in one embodiment, the automobile may beoperable to determine an environment of the automobile. The automobilemay comprise a sensor configured to obtain sensor data. Based on theenvironment, the automobile 100 may select a parameter value for asensor parameter that controls the sensor such that the sensed portionof the environment corresponds to a region of interest. The region ofinterest may be any region that the automobile is focused on based onthe environment of the vehicle. The automobile 100 may operate thesensor using the parameter value to control the sensor to obtain sensordata of the region of interest. Based on the sensor data obtained in theregion of interest, the vehicle may be controlled in an autonomous mode.While in autonomous mode, the automobile 100 may be configured tooperate without human interaction.

The automobile 100 could include various subsystems such as a propulsionsystem 102, a sensor system 104, a control system 106, one or moreperipherals 108, as well as a power supply 110, a computer system 112,and a user interface 116. The automobile 100 may include more or fewersubsystems and each subsystem could include multiple elements. Further,each of the subsystems and elements of automobile 100 could beinterconnected. Thus, one or more of the described functions of theautomobile 100 may be divided up into additional functional or physicalcomponents, or combined into fewer functional or physical components. Insome further examples, additional functional and/or physical componentsmay be added to the examples illustrated by FIG. 1 .

The propulsion system 102 may include components operable to providepowered motion for the automobile 100. Depending upon the embodiment,the propulsion system 102 could include an engine/motor 118, an energysource 119, a transmission 120, and wheels/tires 121. The engine/motor118 could be any combination of an internal combustion engine, anelectric motor, steam engine, Stirling engine, or other types of enginesand/or motors. In some embodiments, the engine/motor 118 may beconfigured to convert energy source 119 into mechanical energy. In someembodiments, the propulsion system 102 could include multiple types ofengines and/or motors. For instance, a gas-electric hybrid car couldinclude a gasoline engine and an electric motor. Other examples arepossible.

The energy source 119 could represent a source of energy that may, infull or in part, power the engine/motor 118. That is, the engine/motor118 could be configured to convert the energy source 119 into mechanicalenergy. Examples of energy sources 119 include gasoline, diesel, otherpetroleum-based fuels, propane, other compressed gas-based fuels,ethanol, solar panels, batteries, and other sources of electrical power.The energy source(s) 119 could additionally or alternatively include anycombination of fuel tanks, batteries, capacitors, and/or flywheels. Theenergy source 119 could also provide energy for other systems of theautomobile 100.

The transmission 120 could include elements that are operable totransmit mechanical power from the engine/motor 118 to the wheels/tires121. To this end, the transmission 120 could include a gearbox, clutch,differential, and drive shafts. The transmission 120 could include otherelements. The drive shafts could include one or more axles that could becoupled to the one or more wheels/tires 121.

The wheels/tires 121 of automobile 100 could be configured in variousformats, including a unicycle, bicycle/motorcycle, tricycle, orcar/truck four-wheel format. Other wheel/tire geometries are possible,such as those including six or more wheels. Any combination of thewheels/tires 121 of automobile 100 may be operable to rotatedifferentially with respect to other wheels/tires 121. The wheels/tires121 could represent at least one wheel that is fixedly attached to thetransmission 120 and at least one tire coupled to a rim of the wheelthat could make contact with the driving surface. The wheels/tires 121could include any combination of metal and rubber, or anothercombination of materials.

The sensor system 104 may include a number of sensors configured tosense information about an environment of the automobile 100. Forexample, the sensor system 104 could include a Global Positioning System(GPS) 122, an inertial measurement unit (IMU) 124, a RADAR unit 126, alaser rangefinder/LIDAR unit 128, and a camera 130. The sensor system104 could also include sensors configured to monitor internal systems ofthe automobile 100 (e.g., O₂ monitor, fuel gauge, engine oiltemperature). Other sensors are possible as well.

One or more of the sensors included in sensor system 104 could beconfigured to be actuated separately and/or collectively in order tomodify a position and/or an orientation of the one or more sensors.

The GPS 122 may be any sensor configured to estimate a geographiclocation of the automobile 100. To this end, GPS 122 could include atransceiver operable to provide information regarding the position ofthe automobile 100 with respect to the Earth.

The IMU 124 could include any combination of sensors (e.g.,accelerometers and gyroscopes) configured to sense position andorientation changes of the automobile 100 based on inertialacceleration.

The RADAR unit 126 may represent a system that utilizes radio signals tosense objects within the local environment of the automobile 100. Insome embodiments, in addition to sensing the objects, the RADAR unit 126may additionally be configured to sense the speed and/or heading of theobjects.

Similarly, the laser rangefinder or LIDAR unit 128 may be any sensorconfigured to sense objects in the environment in which the automobile100 is located using lasers. Depending upon the embodiment, the laserrangefinder/LIDAR unit 128 could include one or more laser sources, alaser scanner, and one or more detectors, among other system components.The laser rangefinder/LIDAR unit 128 could be configured to operate in acoherent (e.g., using heterodyne detection) or an incoherent detectionmode.

The camera 130 could include one or more devices configured to capture aplurality of images of the environment of the automobile 100. The camera130 could be a still camera or a video camera.

The control system 106 may be configured to control operation of theautomobile 100 and its components. Accordingly, the control system 106could include various elements include steering unit 132, throttle 134,brake unit 136, a sensor fusion algorithm 138, a computer vision system140, a navigation/pathing system 142, and an obstacle avoidance system144.

The steering unit 132 could represent any combination of mechanisms thatmay be operable to adjust the heading of automobile 100.

The throttle 134 could be configured to control, for instance, theoperating speed of the engine/motor 118 and, in turn, control the speedof the automobile 100.

The brake unit 136 could include any combination of mechanismsconfigured to decelerate the automobile 100. The brake unit 136 coulduse friction to slow the wheels/tires 121. In other embodiments, thebrake unit 136 could convert the kinetic energy of the wheels/tires 121to electric current. The brake unit 136 may take other forms as well.

The sensor fusion algorithm 138 may be an algorithm (or a computerprogram product storing an algorithm) configured to accept data from thesensor system 104 as an input. The data may include, for example, datarepresenting information sensed at the sensors of the sensor system 104.The sensor fusion algorithm 138 could include, for instance, a Kalmanfilter, Bayesian network, or other algorithm. The sensor fusionalgorithm 138 could further provide various assessments based on thedata from sensor system 104. Depending upon the embodiment, theassessments could include evaluations of individual objects and/orfeatures in the environment of automobile 100, evaluation of aparticular situation, and/or evaluate possible impacts based on theparticular situation. Other assessments are possible.

The computer vision system 140 may be any system operable to process andanalyze images captured by camera 130 in order to identify objectsand/or features in the environment of automobile 100 that could includetraffic signals, road way boundaries, and obstacles. The computer visionsystem 140 could use an object recognition algorithm, a Structure FromMotion (SFM) algorithm, video tracking, and other computer visiontechniques. In some embodiments, the computer vision system 140 could beadditionally configured to map an environment, track objects, estimatethe speed of objects, etc.

The navigation and pathing system 142 may be any system configured todetermine a driving path for the automobile 100. The navigation andpathing system 142 may additionally be configured to update the drivingpath dynamically while the automobile 100 is in operation. In someembodiments, the navigation and pathing system 142 could be configuredto incorporate data from the sensor fusion algorithm 138, the GPS 122,and one or more predetermined maps so as to determine the driving pathfor automobile 100.

The obstacle avoidance system 144 could represent a control systemconfigured to identify, evaluate, and avoid or otherwise negotiatepotential obstacles in the environment of the automobile 100.

The control system 106 may additionally or alternatively includecomponents other than those shown and described.

Peripherals 108 may be configured to allow interaction between theautomobile 100 and external sensors, other automobiles, and/or a user.For example, peripherals 108 could include a wireless communicationsystem 146, a touchscreen 148, a microphone 150, and/or a speaker 152.

In an example embodiment, the peripherals 108 could provide, forinstance, means for a user of the automobile 100 to interact with theuser interface 116. To this end, the touchscreen 148 could provideinformation to a user of automobile 100. The user interface 116 couldalso be operable to accept input from the user via the touchscreen 148.The touchscreen 148 may be configured to sense at least one of aposition and a movement of a user's finger via capacitive sensing,resistance sensing, or a surface acoustic wave process, among otherpossibilities. The touchscreen 148 may be capable of sensing fingermovement in a direction parallel or planar to the touchscreen surface,in a direction normal to the touchscreen surface, or both, and may alsobe capable of sensing a level of pressure applied to the touchscreensurface. The touchscreen 148 may be formed of one or more translucent ortransparent insulating layers and one or more translucent or transparentconducting layers. The touchscreen 148 may take other forms as well.

In other instances, the peripherals 108 may provide means for theautomobile 100 to communicate with devices within its environment. Themicrophone 150 may be configured to receive audio (e.g., a voice commandor other audio input) from a user of the automobile 100. Similarly, thespeakers 152 may be configured to output audio to the user of theautomobile 100.

In one example, the wireless communication system 146 could beconfigured to wirelessly communicate with one or more devices directlyor via a communication network. For example, wireless communicationsystem 146 could use 3G cellular communication, such as CDMA, EVDO,GSM/GPRS, or 4G cellular communication, such as WiMAX or LTE.Alternatively, wireless communication system 146 could communicate witha wireless local area network (WLAN), for example, using WiFi. In someembodiments, wireless communication system 146 could communicatedirectly with a device, for example, using an infrared link, Bluetooth,or ZigBee. Other wireless protocols, such as various vehicularcommunication systems, are possible within the context of thedisclosure. For example, the wireless communication system 146 couldinclude one or more dedicated short range communications (DSRC) devicesthat could include public and/or private data communications betweenvehicles and/or roadside stations.

The power supply 110 may provide power to various components ofautomobile 100 and could represent, for example, a rechargeablelithium-ion or lead-acid battery. In some embodiments, one or more banksof such batteries could be configured to provide electrical power. Otherpower supply materials and configurations are possible. In someembodiments, the power supply 110 and energy source 119 could beimplemented together, as in some all-electric cars.

Many or all of the functions of automobile 100 could be controlled bycomputer system 112. Computer system 112 may include at least oneprocessor 113 (which could include at least one microprocessor) thatexecutes instructions 115 stored in a non-transitory computer readablemedium, such as the data storage 114. The computer system 112 may alsorepresent a plurality of computing devices that may serve to controlindividual components or subsystems of the automobile 100 in adistributed fashion.

In some embodiments, data storage 114 may contain instructions 115(e.g., program logic) executable by the processor 113 to execute variousautomobile functions, including those described above in connection withFIG. 1 . Data storage 114 may contain additional instructions as well,including instructions to transmit data to, receive data from, interactwith, and/or control one or more of the propulsion system 102, thesensor system 104, the control system 106, and the peripherals 108.

In addition to the instructions 115, the data storage 114 may store datasuch as roadway maps, path information, among other information. Suchinformation may be used by automobile 100 and computer system 112 atduring the operation of the automobile 100 in the autonomous,semi-autonomous, and/or manual modes.

The automobile 100 may include a user interface 116 for providinginformation to or receiving input from a user of automobile 100. Theuser interface 116 could control or enable control of content and/or thelayout of interactive images that could be displayed on the touchscreen148. Further, the user interface 116 could include one or moreinput/output devices within the set of peripherals 108, such as thewireless communication system 146, the touchscreen 148, the microphone150, and the speaker 152.

The computer system 112 may control the function of the automobile 100based on inputs received from various subsystems (e.g., propulsionsystem 102, sensor system 104, and control system 106), as well as fromthe user interface 116. For example, the computer system 112 may utilizeinput from the control system 106 in order to control the steering unit132 to avoid an obstacle detected by the sensor system 104 and theobstacle avoidance system 144. Depending upon the embodiment, thecomputer system 112 could be operable to provide control over manyaspects of the automobile 100 and its subsystems.

The various subsystems (e.g., propulsion system 102, sensor system 104,and control system 106) elements (e.g., RADAR Unit 126, Brake Unit 136,and Speaker 152) in automobile 100 may be controlled by parameters. Thesubsystem inputs received by the computer system 112 may be generated,for example, based on parameters that allow the various subsystems andtheir elements to operate. For example, sensor system 104 may utilizeparameters including a device type, a detection range, a camera type,and a time value to operate its elements, and control system 106 mayutilize parameters including a lane change rate, a current-lane-positionchange indicator, a speed, and a horn rate to operate its elements.Other parameters may be used. The parameter values of the variousparameters may be a numeric value, a boolean value, a word, or a range,for example. The parameter values may be fixed or adjustedautomatically. Automatic parameter value adjustments may be determined,for example, based on a current context (information about theautomobile 100 and an environment of the automobile 100) of theautomobile 100. Parameter values could also be determined based on userinput via the user interface 116. In another example, parameter valuesmay be learned, for example, based on the preference of a user while theautomobile 100 is operating in an environment. In a specific embodiment,for example, sensor system 104 may utilize a range parameter for theLaser Rangefinder/LIDAR Unit 128 with a parameter value of “10 feet.”Accordingly, the sensor system 104 may generate an input causing thecomputer system 112 to control the Laser Rangefinder/LIDAR Unit 128 toonly detect objects within 10 feet of the automobile 100.

The components of automobile 100 could be configured to work in aninterconnected fashion with other components within or outside theirrespective systems. In an example embodiment, the computer system 112could operate at least one sensor of the automobile 100 to determine anenvironment of the vehicle. For example, the automobile may determinethat the automobile is on a surface road. In other examples, thecomputer system 112 may receive information about the environment, froma server or database for example. In one example, the computer systemmay receive a terrain map of the environment, and use the terrain map todetermine information about the environment. Based on thisdetermination, the computer system 112 may determine a parameter valuefor a sensor parameter to control a sensor of the automobile to obtainsensor data that corresponds to a certain region of interest. In oneexample, the computer system may determine a parameter value of“indefinite” for a distance parameter for the Laser Rangefinder/LIDARUnit 128 thereby controlling the automobile to detect objects using amaximum range of the Laser Rangefinder/LIDAR Unit 128 of the automobile100. In another example, the computer system of the automobile maydetermine a parameter value of “20 degrees” for an operating altitudeparameter for the Camera 130 thereby controlling the Camera 130 tocapture a plurality of images from a certain operating altitude. Othersensor parameters and parameter values may be used by the automobile andare described in greater detail later in this disclosure.

Once the computer system 112 has determined or selected a parametervalue for the applicable sensor of the automobile, the automobile mayoperate the sensor using the parameter value to obtain data of a regionof interest. Referring to the aforementioned Laser Rangefinder/LIDARUnit example, for example, the computer system 112 may control theautomobile 100 to obtain data using a maximum or indefinite range of theLaser Rangefinder while the automobile is operating on the surface road.In this example, the maximum range of the Laser/Rangefinder maycorrespond to the region of interest. Once the sensor data correspondingto the region of interest has been obtained, the computer system 112 maycontrol the vehicle in an autonomous mode based on the sensor data ofthe region of interest obtained by the Laser/Rangefinder.

Although FIG. 1 shows various components of automobile 100, i.e.,wireless communication system 146, computer system 112, data storage114, and user interface 116, as being integrated into the automobile100, one or more of these components could be mounted or associatedseparately from the automobile 100. For example, data storage 114 could,in part or in full, exist separate from the automobile 100. Thus, theautomobile 100 could be provided in the form of device elements that maybe located separately or together. The device elements that make upautomobile 100 could be communicatively coupled together in a wiredand/or wireless fashion.

FIG. 2 shows an automobile 200 that could be similar or identical toautomobile 100 described in reference to FIG. 1 . Although automobile200 is illustrated in FIG. 2 as a car, other embodiments are possible.For instance, the automobile 200 could represent a truck, a van, asemi-trailer truck, a motorcycle, a golf cart, an off-road vehicle, or afarm vehicle, among other examples.

Depending on the embodiment, automobile 200 could include a sensor unit202, a wireless communication system 204, a LIDAR unit 206, a laserrangefinder unit 208, and a camera 210. The elements of automobile 200could include some or all of the elements described for FIG. 1 .

The sensor unit 202 could include one or more different sensorsconfigured to capture information about an environment of the automobile200. For example, sensor unit 202 could include any combination ofcameras, RADARs, LIDARs, range finders, and acoustic sensors. Othertypes of sensors are possible. Depending on the embodiment, the sensorunit 202 could include one or more movable mounts that could be operableto adjust the orientation of one or more sensors in the sensor unit 202.In one embodiment, the movable mount could include a rotating platformthat could scan sensors so as to obtain information from each directionaround the automobile 200. In another embodiment, the movable mount ofthe sensor unit 202 could be moveable in a scanning fashion within aparticular range of angles and/or azimuths. The sensor unit 202 could bemounted atop the roof of a car, for instance, however other mountinglocations are possible. Additionally, the sensors of sensor unit 202could be distributed in different locations and need not be collocatedin a single location. Some possible sensor types and mounting locationsinclude LIDAR unit 206 and laser rangefinder unit 208. Furthermore, eachsensor of sensor unit 202 could be configured to be moved or scannedindependently of other sensors of sensor unit 202.

The wireless communication system 204 could be located on a roof of theautomobile 200 as depicted in FIG. 2 . Alternatively, the wirelesscommunication system 204 could be located, fully or in part, elsewhere.The wireless communication system 204 may include wireless transmittersand receivers that could be configured to communicate with devicesexternal or internal to the automobile 200. Specifically, the wirelesscommunication system 204 could include transceivers configured tocommunicate with other vehicles and/or computing devices, for instance,in a vehicular communication system or a roadway station. Examples ofsuch vehicular communication systems include dedicated short rangecommunications (DSRC), radio frequency identification (RFID), and otherproposed communication standards directed towards intelligent transportsystems.

The camera 210 may be any camera (e.g., a still camera, a video camera,etc.) configured to capture a plurality of images of the environment ofthe automobile 200. To this end, the camera 210 may be configured todetect visible light, or may be configured to detect light from otherportions of the spectrum, such as infrared or ultraviolet light. Othertypes of cameras are possible as well.

The camera 210 may be a two-dimensional detector, or may have athree-dimensional spatial range. In some embodiments, the camera 210 maybe, for example, a range detector configured to generate atwo-dimensional image indicating a distance from the camera 210 to anumber of points in the environment. To this end, the camera 210 may useone or more range detecting techniques. For example, the camera 210 mayuse a structured light technique in which the automobile 200 illuminatesan object in the environment with a predetermined light pattern, such asa grid or checkerboard pattern and uses the camera 210 to detect areflection of the predetermined light pattern off the object. Based ondistortions in the reflected light pattern, the automobile 200 maydetermine the distance to the points on the object. The predeterminedlight pattern may comprise infrared light, or light of anotherwavelength. As another example, the camera 210 may use a laser scanningtechnique in which the automobile 200 emits a laser and scans across anumber of points on an object in the environment. While scanning theobject, the automobile 200 uses the camera 210 to detect a reflection ofthe laser off the object for each point. Based on a length of time ittakes the laser to reflect off the object at each point, the automobile200 may determine the distance to the points on the object. As yetanother example, the camera 210 may use a time-of-flight technique inwhich the automobile 200 emits a light pulse and uses the camera 210 todetect a reflection of the light pulse off an object at a number ofpoints on the object. In particular, the camera 210 may include a numberof pixels, and each pixel may detect the reflection of the light pulsefrom a point on the object. Based on a length of time it takes the lightpulse to reflect off the object at each point, the automobile 200 maydetermine the distance to the points on the object. The light pulse maybe a laser pulse. Other range detecting techniques are possible as well,including stereo triangulation, sheet-of-light triangulation,interferometry, and coded aperture techniques, among others. The camera210 may take other forms as well.

The camera 210 could be mounted inside a front windshield of theautomobile 200. Specifically, as illustrated, the camera 210 couldcapture images from a forward-looking view with respect to theautomobile 200. Other mounting locations and viewing angles of camera210 are possible, either inside or outside the automobile 200.

The camera 210 could have associated optics that could be operable toprovide an adjustable field of view. Further, the camera 210 could bemounted to automobile 200 with a movable mount that could be operable tovary a pointing angle of the camera 210.

FIG. 3A illustrates a scenario 300 involving a freeway with a left-mostlane 302, a first-center lane 304, a second-center lane 306, and aright-most lane 308. An automobile 310 operating in an autonomous modemay operate a sensor of the sensor unit 312 to determine an environmentof the automobile. Environment characteristics may includecharacteristics of varying detail that describe the environment of thevehicle. For example, environment characteristics of scenario 300 mayinclude information regarding a road type, a location of obstacles,traffic density, and weather, among other characteristics. In oneinstance, the automobile may determine that its environment includes thefreeway 300, truck 314, and cars 316 and 318, and the automobile 310 maysense the presence of truck 314 and cars 316 and 318. Based on some orall of this environment characteristic information, the automobile 310may select a parameter value of a sensor parameter of a sensor of thesensor unit 312 such that the sensor senses data that corresponds to acertain region of interest that is relevant to the vehicle'senvironment.

For example, in the scenario of FIG. 3A, the region of interest may beselected so that automobile 310 can detect and track other vehicles thatare within a certain proximity to automobile 310. Since automobile 310is traveling in left-most lane 302, the region of interest need notextend an appreciable distance to the left of automobile 302. However,it may useful for automobile 310 to track vehicles operating in lanes304 and 306, as such vehicles could potentially move into lane 302 orautomobile 310 may decide to navigate to lane 304 or 306. Accordingly,the automobile 310 may use a LIDAR device controlled by a distanceparameter with a parameter value of “2 lanes.” Although the parametervalue is given herein as “2 lanes”, it is to be understood that theparameter value could be given as “2”, as “two lanes”, as a distancecorresponding to two lanes, such as “24 feet”, or as any combination ofone or more characters recognizable by automobile 310 as an instructionto control the LIDAR device to detect objects within two lanes.

Based on the parameter value of “2 lanes,” the LIDAR device inautomobile 310 senses lanes 304 and 306, but not lane 308. Thus, lanes304 and 306 are labeled as the “region of interest” in FIG. 3A. It is tobe understood, however, that FIG. 3A is not intended to show how far the“region of interest” extends ahead of and behind the vehicle. Forexample, the “2 lane” parameter value may define only the LIDAR'sdetection range to one side of automobile 310. The LIDAR's detectionrange ahead of and behind automobile 310 could be defined by a differentparameter value and could correspond to a distance that is greater thantwo lanes. It is also to be understood that the “2 lane” parameter valueis only one possible example of a sensor parameter that might beselected in the environment illustrated in FIG. 3A. In other examples, aparameter value of “1 lane” might be selected, in which case the LIDARdevice in automobile would sense lane 304 but not lanes 306 and 308. Instill other examples, the sensor parameter that is selected could definean angular range of the LIDAR sensor, such as a range of angles to theright of automobile 310.

Automobile 310 may be controlled in an autonomous mode based on thesensor data obtained from the “region of interest,” i.e., lanes 304 and306. For example, in this scenario the sensor data from the LIDARdevice, sensing lanes 304 and 306, could be used to determine that cars316 and 318, and truck 314 are all traveling straight. As a result, theautomobile 310 may be controlled to travel in the left-most lane 302 ata speed of 50 miles-per-hour, for example. In contrast, vehicles 320 and322 in lane 308 are sufficiently far away so as to be unlikely to affectthe behavior of automobile 310. Thus, by confining the region ofinterest to lanes 304 and 306, automobile 310 may obtain relevant sensordata more quickly and/or with less processing than if lane 308 were alsosensed.

FIG. 3B illustrates a scenario 340 similar to that in FIG. 3A, but in adifferent environment. In FIG. 3B, the number of lanes has decreased totwo: a left-most lane 342 and a right-most lane 344, and the automobile310 is no longer on a freeway, but rather traveling on a surface road.The number of other vehicles has decreased to three: truck 346 and cars348 and 350. In this scenario, based on the aforementioned environmentcharacteristics, the automobile may determine that the entire surfaceroad is of interest to it. In this example, as shown in FIG. 3B, the“region of interest” is the entire surface road including lanes 342 and344 and intersection 354. Accordingly, the computer system of theautomobile 310 may select a parameter value of “indefinite” for thedistance parameter and a parameter value of “360 degrees” for adirection parameter. Accordingly, the LIDAR device may detect objectswith its maximum range and in any direction to the automobile 310. Forexample, the automobile may detect obstacles 352, intersection 354, aswell as cars 348 and 350 that are traveling in different directions andon different roads than automobile 310. Based on the sensor data of theregion of interest, the automobile may be controlled to avoid obstacles352 and cautiously proceed past intersection 354, for example.

In another example, the parameter value may be determined based on theactivity of the vehicle. For example, when the automobile 310 makes aleft turn, the automobile may select a parameter value such that theregion of interest may be changed to focus on intersection 354 and cars348 and 350. In yet another example, the automobile may determine theparameter value based on objects within the environment. For example,once the automobile 310 detects obstacles 352, the computer system ofthe automobile 310 may select a parameter value for a sensor parametersuch that the region of interest is on the obstacles 352 until theautomobile safely passes the automobile, for example.

A method 400 is provided for modifying the behavior of an autonomousvehicle using context based parameter switching. The method could beperformed using the apparatus shown in FIGS. 1 and 2 and describedabove; however, other configurations could be used. FIG. 4 illustratesthe steps in an example method, however, it is understood that in otherembodiments, the steps may appear in a different order, and steps couldbe added or subtracted.

Step 402 includes determining, using a computer system, an environmentof a vehicle. The vehicle may be configured to operate in an autonomousmode and may comprise a sensor configured to obtain sensor data of asensed portion of the environment. The sensed portion of the environmentmay be defined by at least one sensor parameter. The vehicle describedin this method may be the automobile 100 and/or automobile 200 asillustrated and described in reference to the FIGS. 1 and 2 ,respectively, and will be referenced as such in discussing method 400.Operating a sensor of the automobile may include, for example, operatingany of the sensors included in the sensor system 104. The operatingsensor may be controlled using a sensor parameter to obtain sensor datain an environment of the automobile 100. In some instances, multiplesensors may be used. The sensor parameter may be any parameter thatcontrols where or how the sensor obtains sensor data. For example, adistance parameter, direction parameter, or height parameter may be usedto control where the sensor obtains data. Other parameters may controlhow a sensor obtains sensor data. For example, a shutter speedparameter, frame rate parameter, or exposure time parameter could beused.

Determining the environment of the automobile 100 may includedetermining any relevant characteristics of the current context andenvironment of the automobile. For example, the automobile could obtainsensor data relating to the speed, position, heading, and current laneof the automobile, as well as obtain sensor data relating to the currentlane of other automobiles, obstacles, roadway boundaries, roadwayconditions, and weather indications and conditions. In one example, theautomobile 100 may determine that it is operating in an environmenttraveling above 55 miles-per-hour. Based on the fact the automobile istraveling above 55 miles-per-hour, the automobile 100 may determine itis operating on a freeway, for example. In another example, theautomobile 100 may determine that it is operating in an environmentcomprising a surface street based on the presence of traffic signals andthe fact the vehicle is traveling below 30 miles-per-hour.

In other examples, the vehicle may determine the environment byreceiving a terrain map defining the environment of the vehicle,comparing a terrain map defining the environment of the vehicle tosensor data obtained by a sensor of the vehicle, determining the numberof lanes in the environment, determining the presence of a median in theenvironment, determining a shape of a road in the environment,determining a speed limit in the environment, determining a presence ofpedestrians in the environment, determining a presence of a trafficlight in the environment, or determining a presence of a cross walk inthe environment. Other environmental characteristics may be determinedand are contemplated herein. Depending upon the embodiment, thedetermination may be made fully or in part by a control system in thevehicle or by a server network and communicated to the vehicle.

Step 404 includes based on the environment of the vehicle, selecting atleast one parameter value for the at least one sensor parameter suchthat the sensed portion of the environment corresponds to a region ofinterest. The parameter value may include a numeric value, a booleanvalue, a word, or any other data that identifies a distance or range ofdistances. In other examples, the parameter value may identify anangular range and/or a particular direction, such “360 degrees” or “60degrees in front.” In even further examples, the parameter value mayidentify a height or range of heights above the vehicle or road surface.Depending upon the embodiment, the selection may be made fully or inpart by a control system in the vehicle or fully or in part by a servernetwork and communicated to the vehicle. The selection may further bemade by a user, for example. The parameter value may be determined basedon the activity of the vehicle or an activity of an object in theenvironment. Example activities of the vehicle may include making turns,reversing direction, or stopping, for example. An example activity of anobject may be movement of the object, for example.

Once the parameter value has been selected, step 406 comprises operatingthe sensor, using the selected at least one parameter value for the atleast one sensor parameter, to obtain sensor data of the region ofinterest. As previously described, the region of interest may be an areaof the environment that the vehicle focuses on based on thecharacteristics of the environment. In other words, the region ofinterest may be a portion of the vehicle's surroundings that isappropriate to monitor, given the context or environment of the vehicle.By defining the region of interest in this way, the vehicle may moreeffectively and accurately obtain sensor data. The region of interestmay be defined by the parameter value for the sensor parameter.Accordingly, the region of interest may include an angular region infront of, behind, or to the side of the vehicle. In other examples, theregion of interest may include a lateral area to either side of thevehicle or a defined area above or below the vehicle. The vehicle may beoperated using the selected parameter to obtain sensor data in thedesired region of interest determined by the preceding step, step 404.

In some examples, a parameter value that is selected based on theenvironment may control whether a particular algorithm that can be usedto process sensor data is turned on or turned off. For example, ifautomobile 100 is operating in a freeway environment, computer system112 in automobile 100 may select one or more parameter values that turnoff traffic signal detection and pedestrian detection, algorithms whichautomobile 100 may use in a surface street environment. The one or moreparameter values may also turn on one or more algorithms that arerelevant to the freeway environment, such as lane estimation andconstruction cone detection algorithms.

Step 408 comprises controlling the vehicle in the autonomous mode basedon the sensor data of the region of interest. For example, computersystem 112 may control automobile 100 to act in response to the sensordata acquired by one or more sensors in sensor system 104 in step 406.In some instances, the computer system may control the automobile toaccelerate, decelerate, and/or change heading. In other instances, thecomputer system may cause the automobile to maintain a current speed andheading. In a scenario where the automobile is traveling on a freeway,such as the scenario depicted in FIG. 3A, automobile 310 may not need toslow down or change lanes based on data obtained from a region ofinterest. Because the automobile is not likely to encounter the othervehicles, for example, which may require it to change its drivingcondition, the computer system may control the automobile to continue atthe same speed and to remain within the same driving lane.

Example methods, such as method 400 of FIG. 4 may be carried out inwhole or in part by the automobile and its subsystems. Accordingly,example methods could be described by way of example herein as beingimplemented by the automobile. However, it should be understood that anexample method may be implemented in whole or in part by other computingdevices. For example, an example method may be implemented in whole orin part by a server system, which receives data from a device such asthose associated with the automobile. Other examples of computingdevices or combinations of computing devices that can implement anexample method are possible.

In some embodiments, the disclosed methods may be implemented ascomputer program instructions encoded on a non-transitorycomputer-readable storage media in a machine-readable format, or onother non-transitory media or articles of manufacture. FIG. 5 is aschematic illustrating a conceptual partial view of an example computerprogram product that includes a computer program for executing acomputer process on a computing device, arranged according to at leastsome embodiments presented herein.

In one embodiment, the example computer program product 500 is providedusing a signal bearing medium 502. The signal bearing medium 502 mayinclude one or more programming instructions 504 that, when executed byone or more processors may provide functionality or portions of thefunctionality described above with respect to FIGS. 1-4 . In someexamples, the signal bearing medium 502 may encompass acomputer-readable medium 506, such as, but not limited to, a hard diskdrive, a Compact Disc (CD), a Digital Video Disk (DVD), a digital tape,memory, etc. In some implementations, the signal bearing medium 502 mayencompass a computer recordable medium 508, such as, but not limited to,memory, read/write (R/W) CDs, R/W DVDs, etc. In some implementations,the signal bearing medium 502 may encompass a communications medium 510,such as, but not limited to, a digital and/or an analog communicationmedium (e.g., a fiber optic cable, a waveguide, a wired communicationslink, a wireless communication link, etc.). Thus, for example, thesignal bearing medium 502 may be conveyed by a wireless form of thecommunications medium 510.

The one or more programming instructions 504 may be, for example,computer executable and/or logic implemented instructions. In someexamples, a computing device such as the computer system 112 of FIG. 1may be configured to provide various operations, functions, or actionsin response to the programming instructions 504 conveyed to the computersystem 112 by one or more of the computer readable medium 506, thecomputer recordable medium 508, and/or the communications medium 510.

The non-transitory computer readable medium could also be distributedamong multiple data storage elements, which could be remotely locatedfrom each other. The computing device that executes some or all of thestored instructions could be an automobile, such as the automobile 200illustrated in FIG. 2 . Alternatively, the computing device thatexecutes some or all of the stored instructions could be anothercomputing device, such as a server.

The above detailed description describes various features and functionsof the disclosed systems, devices, and methods with reference to theaccompanying figures. While various aspects and embodiments have beendisclosed herein, other aspects and embodiments are possible. Thevarious aspects and embodiments disclosed herein are for purposes ofillustration and are not intended to be limiting, with the true scopeand spirit being indicated by the following claims.

What is claimed is:
 1. A method, comprising: determining a region ofinterest of an environment of a vehicle, wherein the vehicle isconfigured to operate in an autonomous mode, and wherein the vehicleincludes a radar system; selecting, for the radar system, at least afirst sensor parameter for a first direction from the vehicle and asecond sensor parameter for a second direction from the vehicle based onthe region of interest; operating the radar system, using the firstsensor parameter and the second sensor parameter, to obtain sensor dataof the region of interest, wherein the first sensor parameter causes theradar system to obtain sensor data in a first range of distances fromthe vehicle in the first direction, wherein the second sensor parametercauses the radar system to obtain sensor data in a second range ofdistances from the vehicle in the second direction, wherein the secondrange of distances includes longer distances than the first range ofdistances; and controlling the vehicle in the autonomous mode based onthe sensor data of the region of interest.
 2. The method of claim 1,wherein the first direction corresponds to a first angular range and thesecond direction corresponds to a second angular range.
 3. The method ofclaim 1, wherein the first direction corresponds to a first range ofheights and the second direction corresponds to a second range ofheights.
 4. The method of claim 1, wherein determining the region ofinterest comprises determining the region of interest based on an objectin the environment.
 5. The method of claim 1, wherein determining theregion of interest comprises determining the region of interest based onan activity of an object in the environment.
 6. The method of claim 1,wherein determining the region of interest comprises determining theregion of interest based on an activity of the vehicle.
 7. The method ofclaim 1, wherein determining the region of interest comprisesdetermining the region of interest based on a type of road on which thevehicle is operating.
 8. The method of claim 1, wherein the first sensorparameter comprises a first distance parameter and the second sensorparameter comprises a second distance parameter.
 9. A vehicle,comprising: a radar system; and a computer system configured to performoperations comprising: determining a region of interest of anenvironment of the vehicle; selecting, for the radar system, at least afirst sensor parameter for a first direction from the vehicle and asecond sensor parameter for a second direction from the vehicle based onthe region of interest; operating the radar system, using the firstsensor parameter and the second sensor parameter, to obtain sensor dataof the region of interest, wherein the first sensor parameter causes theradar system to obtain sensor data in a first range of distances fromthe vehicle in the first direction, wherein the second sensor parametercauses the radar system to obtain sensor data in a second range ofdistances from the vehicle in the second direction, wherein the secondrange of distances includes longer distances than the first range ofdistances; and controlling the vehicle based on the sensor data of theregion of interest.
 10. The vehicle of claim 9, wherein the firstdirection corresponds to a first angular range and the second directioncorresponds to a second angular range.
 11. The vehicle of claim 9,wherein the first direction corresponds to a first range of heights andthe second direction corresponds to a second range of heights.
 12. Thevehicle of claim 9, wherein determining the region of interest comprisesdetermining the region of interest based on an object in theenvironment.
 13. The vehicle of claim 9, wherein determining the regionof interest comprises determining the region of interest based on anactivity of an object in the environment.
 14. The vehicle of claim 9,wherein determining the region of interest comprises determining theregion of interest based on an activity of the vehicle.
 15. The vehicleof claim 9, wherein determining the region of interest comprisesdetermining the region of interest based on a type of road on which thevehicle is operating.
 16. The vehicle of claim 9, wherein the firstsensor parameter comprises a first distance parameter and the secondsensor parameter comprises a second distance parameter.
 17. Anon-transitory computer readable medium having stored thereininstructions executable by a computer system to cause the computersystem to perform operations comprising: determining a region ofinterest of an environment of a vehicle, wherein the vehicle isconfigured to operate in an autonomous mode, and wherein the vehicleincludes a radar system; selecting, for the radar system, at least afirst sensor parameter for a first direction from the vehicle and asecond sensor parameter for a second direction from the vehicle based onthe region of interest; operating the radar system, using the firstsensor parameter and the second sensor parameter, to obtain sensor dataof the region of interest, wherein the first sensor parameter causes theradar system to obtain sensor data in a first range of distances fromthe vehicle in the first direction, wherein the second sensor parametercauses the radar system to obtain sensor data in a second range ofdistances from the vehicle in the second direction, wherein the secondrange of distances includes longer distances than the first range ofdistances; and controlling the vehicle in the autonomous mode based onthe sensor data of the region of interest.
 18. The non-transitorycomputer readable medium of claim 17, wherein the first directioncorresponds to a first angular range and the second directioncorresponds to a second angular range.
 19. The non-transitory computerreadable medium of claim 17, wherein determining the region of interestcomprises at least one of determining the region of interest based on anobject in the environment, determining the region of interest based onan activity of an object in the environment, determining the region ofinterest based on an activity of the vehicle, or determining the regionof interest based on a type of road on which the vehicle is operating.20. The non-transitory computer readable medium of claim 17, wherein thefirst sensor parameter comprises a first distance parameter and thesecond sensor parameter comprises a second distance parameter.